2 reef alignment miniauto

.gitignore

@@ -22,8 +22,8 @@
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
 replay_pid*
-
+build/
 .gradle/
 .vscode/
 .idea/ # please do not use IntelliJ!
-build
+build

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 4180
+}

src/main/deploy/swerve/modules/backleft.json

@@ -3,7 +3,7 @@
       "front": -12,
       "left": 12
     },
-    "absoluteEncoderOffset": 193.0,
+    "absoluteEncoderOffset": 99.884,
     "drive": {
       "type": "talonfx",
       "id": 5,

src/main/deploy/swerve/modules/backright.json

@@ -3,7 +3,7 @@
       "front": -12,
       "left": -12
     },
-    "absoluteEncoderOffset": 185.0,
+    "absoluteEncoderOffset": 205.782,
     "drive": {
       "type": "talonfx",
       "id": 3,

src/main/deploy/swerve/modules/frontleft.json

@@ -3,7 +3,7 @@
       "front": 12,
       "left": 12
     },
-    "absoluteEncoderOffset": 266.0,
+    "absoluteEncoderOffset": 83.670,
     "drive": {
       "type": "talonfx",
       "id": 7,

src/main/deploy/swerve/modules/frontright.json

@@ -3,7 +3,7 @@
       "front": 12,
       "left": -12
     },
-    "absoluteEncoderOffset": 22.0,
+    "absoluteEncoderOffset": 33.034,
     "drive": {
       "type": "talonfx",
       "id": 1,

src/main/deploy/vision/iron-hallway.tags.json

@@ -0,0 +1,112 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pos": {
+        "translation": {
+          "x": 1.5239999512320015,
+          "y": 3.962399873203204,
+          "z": 0.6921499778512008
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pos": {
+        "translation": {
+          "x": 4.5719998536960045,
+          "y": 3.962399873203204,
+          "z": 1.9113499388368018
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pos": {
+        "translation": {
+          "x": 7.6199997561600075,
+          "y": 3.962399873203204,
+          "z": 1.3017499583440013
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pos": {
+        "translation": {
+          "x": 7.6199997561600075,
+          "y": 0,
+          "z": 1.3017499583440013
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pos": {
+        "translation": {
+          "x": 4.5719998536960045,
+          "y": 0,
+          "z": 1.9113499388368018
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pos": {
+        "translation": {
+          "x": 1.5239999512320015,
+          "y": 0,
+          "z": 0.6921499778512008
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0,
+            "Y": 0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    }
+  ]
+}

src/main/java/org/ironriders/core/Main.java

@@ -7,17 +7,21 @@
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what
+ * you are doing, do not modify this file except to change the parameter class
+ * to the startRobot
  * call.
  */
 public final class Main {
-  private Main() {}
+  private Main() {
+  }
 
   /**
    * Main initialization function. Do not perform any initialization here.
    *
-   * <p>If you change your main robot class, change the parameter type.
+   * <p>
+   * If you change your main robot class, change the parameter type.
    */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);

src/main/java/org/ironriders/core/Robot.java

@@ -9,8 +9,10 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 /**
- * The methods in this class are called automatically corresponding to each mode, as described in
- * the TimedRobot documentation. If you change the name of this class or the package after creating
+ * The methods in this class are called automatically corresponding to each
+ * mode, as described in
+ * the TimedRobot documentation. If you change the name of this class or the
+ * package after creating
  * this project, you must also update the Main.java file in the project.
  */
 public class Robot extends TimedRobot {
@@ -20,39 +22,52 @@ public class Robot extends TimedRobot {
   private Command autonomousCommand;
 
   /**
-   * This function is run when the robot is first started up and should be used for any
+   * This function is run when the robot is first started up and should be used
+   * for any
    * initialization code.
    */
   public Robot() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+    // Instantiate our RobotContainer. This will perform all our button bindings,
+    // and put our
     // autonomous chooser on the dashboard.
     robotContainer = new RobotContainer();
   }
 
   /**
-   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+   * This function is called every 20 ms, no matter the mode. Use this for items
+   * like diagnostics
    * that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * <p>
+   * This runs after the mode specific periodic functions, but before LiveWindow
+   * and
    * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
+    // Runs the Scheduler. This is responsible for polling buttons, adding
+    // newly-scheduled
+    // commands, running already-scheduled commands, removing finished or
+    // interrupted commands,
+    // and running subsystem periodic() methods. This must be called from the
+    // robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+  }
 
-  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+  /**
+   * This autonomous runs the autonomous command selected by your
+   * {@link RobotContainer} class.
+   */
   @Override
   public void autonomousInit() {
     autonomousCommand = robotContainer.getAutonomousCommand();
@@ -65,7 +80,8 @@ public void autonomousInit() {
 
   /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
   public void teleopInit() {
@@ -80,7 +96,8 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
   public void testInit() {
@@ -90,13 +107,16 @@ public void testInit() {
 
   /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 
   /** This function is called once when the robot is first started up. */
   @Override
-  public void simulationInit() {}
+  public void simulationInit() {
+  }
 
   /** This function is called periodically whilst in simulation. */
   @Override
-  public void simulationPeriodic() {}
+  public void simulationPeriodic() {
+  }
 }